The first time I updated my project from standard to URP, I had the same AR Foundation plane AR issue, there was no video feed. I fixed it by following these steps → ARfoundation 4+UWRP7.3+Unity2019.4 not working(black screen and no tracking)
The Render Pipeline Asset under Quality was not referencing the same asset. That fixed my issue.
Then for other reasons I had to revert my project via git. Then I updated the project again to URP, this time it worked and The Render Pipeline Asset was correctly set. I have no idea why, but seems like there might be an issue.
I’m using Unity 2022.3.10 and ARFoundation 5.0.7 and URP 14.0.8